Camera skid tractor nozzle assembly

ABSTRACT

A camera skid and thrust nozzle assembly for supporting a camera while being positioned in a tubular pipe or conduit spaced. from any wall of the conduit and permitting movement of the assembly along the conduit. The assembly includes a cage rotatably fastened to a high pressure fluid tractor nozzle, wherein the cage can rotate about an axis through the tractor nozzle. A camera support structure is fastened within the cage for rotation of the support structure about the axis independent of rotation of the cage. The camera support structure has a weight attached thereto for urging rotational orientation of the camera support structure within the cage according to a sensed external gravitational force on the assembly.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority of U.S. ProvisionalApplication No. 61/804,639, filed Mar. 23, 2013, and No. 61/912,458,filed Dec. 5, 2013, both entitled Camera Skid Tractor Nozzle Assembly.These applications are incorporated herein by reference in theirentirety.

BACKGROUND OF THE DISCLOSURE

A high pressure rotary nozzle and tractor device is disclosed in U.S.Patent Application Publication No. 20120205405. A high pressure fluidswitching valve tractor device for use with a nozzle is also disclosedin U.S. Pat. No. 8,667,987. These publications are hereby incorporatedby reference in their entirety. Such nozzles and tractor devices areparticularly well suited to industrial uses where the operatingparameters can be in the range of 1,000 to 40,000 psi and flow rates of5 to 150 gpm, and when rotary nozzles are employed, rotating speeds of10 to 1000 rpm or more may be needed.

For inspection of sewer lines and other large buried or surface pipingsystems there is a need for a robust mechanism for viewing such systemsinternally to better understand blockages, restrictions and obstructionswithout unearthing and breaking open the system. Several solutions tothis problem have been identified. One such system places a camera on asled at the end of a hose that has jet nozzles to propel the sled downthe piping ahead of the hose. However, the hose naturally has some twistas it is advanced and retracted which tends to cause the sled to tipover. Therefore there is a swivel that is installed to allow the hose toroll while the sled stays upright. However, friction in the swivel atoperating pressure apparently prevents this swivel from performing thedesired function. Thus the sled upon which the camera is mounted tipsover and becomes submerged in whatever fluid is within the piping,especially when trying to negotiate around bends in the piping system.The present disclosure addresses this difficulty in a new manner.

SUMMARY OF THE DISCLOSURE

Embodiments in accordance with the present disclosure eliminate a fluidcarrying swivel to address the above difficulty. One embodiment inaccordance with the present disclosure includes a camera module mountedon a camera tray that is rotatably supported from journal bearings on anaxle that extends through one end of a cage skid that is, in turn,fastened to a tractor nozzle that is attached to an end of a highpressure hose. Such a hose may be pressurized to somewhere between 100psi to 20000 psi, depending on the service for which it is designed.

The cage skid is preferably made of a central bearing sleeve havingthree or more radially extending ribs that extend outward from thecentral bearing sleeve and bend so as to extend parallel to the centralbearing sleeve to a point beyond the camera tray. These ribs thenreconnect around the camera module so as to present a protective cagestructure around the camera module. The three or more ribs arepreferably axially symmetric, so that if the cage rotates on its axis,the camera module is held at an elevation above an anticipated liquidlevel in the conduit or pipe. This axle is rotatably supported by theskid and the same axle rotatably supports the camera tray such that itcan freely rotate to remain upright as the cage rotates on its axis. Theaxle extends axially from a tractor nozzle that may have a plurality ofrearwardly directed nozzle tips to provide a forward thrust on the skidso as to at least assist in propelling the skid through a length of pipein a piping system such as a sewer line. A conventional high pressurehose is attached to the tractor nozzle.

Another embodiment could involve two skids positioned in parallelcontacting the bottom of a pipe if the pipe is large enough. Such aconfiguration would greatly reduce the likelihood of tipping of the cageskids and thus improve assurance the camera module would not likelybecome submerged in fluid within bottom portion of a pipe through whichit is being propelled by fluid jets.

[0007]Another embodiment of an assembly in accordance with the presentdisclosure includes a camera module mounted on a camera tray that isrotatably supported from an axle that extends through one end of a cageskid that is, in turn, fastened to a rotary bearing in turn mounted to arotary nozzle and to a switcher tractor nozzle such as is disclosed inU.S. Patent Publication No. 20120205405 mentioned above. This switchertractor nozzle is then attached to an end of a high pressure hose. Sucha hose may be pressurized to somewhere between 100 psi to 20000 psi,depending on the service for which it is designed. The cage skid ispreferably made of a central bearing sleeve having three or moreradially extending ribs that extend outward from the central bearingsleeve and bend so as to extend parallel to the central axial bearingsleeve to a point beyond the camera tray. These ribs then reconnectaround the camera module so as to present a protective cage structurearound the camera module. The skid rotatably supports the same axle asthe camera tray such that it can freely rotate to negotiate pipingbends. The axle extends axially from a tractor nozzle that may have aplurality of rearwardly directed nozzle tips to provide a forward thruston the skid so as to at least assist in driving the skid through alength of pipe in a piping system such as a sewer line.

In both of these embodiments described above, the camera module ispreferably mounted to a separate journal bearing sleeve on the commonaxle via a radially offset camera tray such that the centerline of thecamera is parallel to the axle, but the entire center of gravity of themodule and tray is displaced from the axle. In this way thegravitational force on the overall assembly will keep the camera modulevertically aligned as the cage skid assembly is propelled along thepiping. Similarly the cage skid is fastened to the common axle byanother journal bearing sleeve so that the skid is free to rotate on theaxle separately so as to readily negotiate bends and around obstacles inthe piping segment in which it is inserted.

A third embodiment in accordance with the present disclosure is designedfor large diameter piping systems such as those having a diametergreater than 18 inches. In this embodiment each of the three ribs isfitted with a frame extension that supports two spaced wheels. Thus thecage skid is supported on three frame extensions each having a set ofwheels. The cage skid then rolls along the inside pipe wall. Each end ofthe frame extension may be quickly attached or detached from the skidrib via a couple of bolts that sandwich the rib therebetween.

A fourth embodiment in accordance with the present disclosure isdesigned for essentially small/moderate diameter piping systems within arange of between 4-10 inches. In this embodiment the skid cage takes theform of a unitary cylindrical can shaped housing having an open frontportion, a tubular mid portion and a cup shaped rear portion. The camerais again mounted for rotation on a shaft within the housing.

DESCRIPTION OF THE DRAWINGS

FIG. 1 is a composite of a side view, front and rear end views andseveral perspective views of a first embodiment of a camera skidassembly in accordance with this disclosure.

FIG. 2 is a composite of a side view, front and rear end views andseveral perspective views of a second embodiment of a camera skid nozzleassembly in accordance with this disclosure.

FIG. 3 is a perspective view of an assembled skid as shown in eitherFIG. 1 or 2 with wheeled extensions on each of the skid ribs.

FIG. 4 is a perspective view of a further camera skid assembly for usein small to moderate pipe diameter systems.

FIG. 5 is an exploded perspective view of the assembly shown in FIG. 4.

FIG. 6 is a longitudinal sectional view of the assembly of FIGS. 4 and 5taken along the line 6-6 in FIG. 4.

DETAILED DESCRIPTION

FIG. 1 includes several views of a first embodiment 100 in accordancewith the present disclosure. Skid nozzle assembly 100 includes a cameramodule 102 mounted on a camera tray 104 that is rotatably supported froman axle 106 that extends through one end of a cage skid 108. The cageskid 108 is, in turn, fastened to a tractor nozzle 110 that is attachedto an end of a high pressure hose (not shown). Such a hose may bepressurized to somewhere between 100 psi to 20000 psi, depending on theservice for which it is designed. The cage skid 108 is preferably madeof a central bearing sleeve having three or more radially extending ribs112 that extend outward from the central bearing sleeve and bend so asto extend parallel to the central bearing sleeve to a point beyond thecamera tray. These ribs 112 then reconnect around the camera module 102so as to present a protective cage structure around the camera module102. This axle 106 supports the cage 108 and also the camera tray 104.The axle 106 extends axially from a tractor nozzle 110 that may have aplurality of rearwardly directed nozzle tips 114 to provide a forwardthrust on the skid 108 so as to at least assist in driving the skidthrough a length of pipe in a piping system such as a sewer line. Thecage skid 108 also preferably has a set of three or more radial supportstruts 116 that extend outward to support the axially extending portionsof the ribs 112.

FIG. 2 shows a second embodiment of an assembly 200 in accordance withthe present disclosure. Nozzle skid assembly 200 includes a cameramodule 202 mounted on a camera tray 204 that is rotatably supported froman axle 206 that extends through one end of a cage skid 208 that is, inturn, fastened to a rotary bearing 210 in turn mounted to a rotarynozzle 222 and to a switcher tractor nozzle 214 such as is disclosed inU.S. Patent publication No. 20120205405 mentioned above. This switchertractor nozzle 214 is then attached to an end of a high pressure hose(again, not shown). Such a hose may be pressurized to somewhere between100 psi to 20000 psi, depending on the service for which it is designed.The cage skid 208 is preferably made of a central bearing sleeve 216 onthe axle 206. The sleeve 216 also has three or more radially extendingribs 218 that extend outward from the central bearing sleeve 216 andbend so as to extend parallel to the central axial bearing sleeve 216 toa point beyond the camera tray 204. These ribs 218 then reconnect aroundthe camera module 202 so as to present a protective cage structurearound the camera module 202. This axle 206 rotatably supports the cageskid 208 and separately the camera tray 204 such that it can freelyrotate. A set of three radial struts 220 each extends from the sleeve216 to one of the ribs 218 to provide rigid support for the cageassembly 208. The axle 206 extends axially from a rotary bearing 210that may optionally be in turn connected to a rotary cleaning jet nozzle222 and another nozzle 212. This nozzle 212 is then connected to theswitcher tractor nozzle 214 that includes both cleaning and a pluralityof rearwardly directed nozzle jet tips to provide a forward thrust onthe skid so as to at least assist in driving the skid through a lengthof pipe in a piping system such as a sewer line.

In both of these embodiments described above, the camera module 102, 202is preferably mounted to a separate journal bearing sleeve on the commonaxle 106, 206 via a radially offset camera tray 104, 204 such that thecenterline of the camera is parallel to the axis of the axle 106, 206,but the entire center of gravity of the module and tray is displacedfrom the axle. In this way the gravitational force on the overallassembly will keep the camera module vertically aligned as the cage skidassembly is propelled along the piping. Similarly the cage skid 108, 208is fastened to the common axle 106, 206 by another journal bearingsleeve 124, 216 so that the skid 108, 208 is free to rotate separatelyon the axle 106, 206 so as to readily negotiate bends and aroundobstacles in the piping segment in which it is inserted.

A further embodiment of the camera skid assembly in accordance with thepresent disclosure is shown in a perspective view in FIG. 3. This skidassembly 300 incorporates a skid assembly as described above withreference to FIG. 1 or 2 for use in large diameter piping systems, suchas for deploying the skids 100 and 200 in pipes greater than about 18inches in diameter.

Skid assembly 300 includes one of skids 100 or 200 and a set of threewheeled frame extension assemblies 302. Each frame extension assemblyincludes a pair of elongated side plates 304, a front wheel 306 and arear wheel 308. The pair of side plates 304 are fastened to and sandwichtherebetween one of the ribs 112, 212. The side plates 304 also sandwichand support axles 310 for the wheels 306 and 308.

Each of the extension assemblies 302 is clamped to its rib 112, 212 viatwo bolt holes 312 and pairs of bolts and nuts (not shown). One of eachpair of bolts in the holes 312 is threaded through the interior space ofthe rib 112, 212 and the other outside the rib 112, 212 so as to capturethe rib 112, 212 between the side plates 304 and each pair of bolts.This clamping technique is exemplary. Other fastening techniques may beutilized, that are known, to secure each of the extension assemblies 302to the skid 100, 200.

A fourth embodiment of a camera skid assembly 400 is shown in FIGS. 4-6.This assembly 400 is similar to those assemblies 100 and 200 in that allcarry a rotatably mounted camera assembly 102. In this embodiment 400,however, the cage 402 is of reduced size such that the assembly can beutilized in piping/conduit systems having a diameter between, forexample, 4-10 inches. In this embodiment, the cage 402 is essentially ahollow can structure having a cup shaped open front cage portion 404, astraight tubular mid portion 406, and a cup shaped rear cage portion408. An axially centered tubular bearing sleeve 410 is fixed to andextends rearward from the rear cage portion 408. Bearing sleeve 410 maybe welded in place on the rear cage portion 408 or otherwise fastenedthereto.

The rear cage portion 408 is rotatably fastened to a tractor nozzle 110via the bearing sleeve 410 and an axle bolt 412 that extends through apair of bushing bearings 414 in the bearing sleeve 410. The axle bolt412 is threaded into the head end of the tractor nozzle 110. Operationof the tractor nozzle 110 is as previously described above.

Preferably the mid cage portion 406 is welded to or otherwise fastenedto the rear cage portion 408 prior to assembly of the camera module intothe rear cage portion 408. The rear cage portion 408 and the mid cageportion 406 each preferably has at least one opening 416 to permitaccess to camera module controls.

The head or front cage portion is a hollow cup shaped solid body thathas a central opening through which the camera can see down the pipingsystem into which the assembly is inserted. Fixed to an interior surfaceof the front cage portion 404 is a generally rectangular weight block420. This weight block 420 provides the mass to keep the camera assembly102 and the cage 402 properly aligned due to gravity as the skid 400 ispushed by the tractor nozzle 110 along a pipe in which it is deployed.

The camera assembly 102 is removably fastened to the mid cage portion406 so as to rotate with the cage 402. The mid cage portion 406 has apair of diametrically opposed slotted flanges 424. The camera assembly102 has opposing flanges 426 which slide into and onto the flanges 424as is shown in the assembled view of FIG. 4. In this way the cameraassembly 102 is sandwiched between the mid cage portion 406 and thefront cage portion 404. During assembly, first the rear cage portion408, with mid cage portion fixed thereto, is assembled via the axle bolt412 to the tractor nozzle 110. Then the camera assembly 102 is slippedinto the mid cage portion 406 such that the flanges 424 and 426overlappingly engage and the weight block 420 slides beneath the cameraassembly 102. Finally, the front cage portion 404 is fitted to the rearand mid cage portions 406 and 408 so that a capture bolt 422 aligns witha threaded recess in the weight block 420. The capture bolt 422 carriedby the rear cage portion 408 is then threaded into the weight block 420to draw the cage portions 408 and 404 together to complete the assembly.

When fully assembled, the cage 402 can rotate freely about the bearingaxle 412. When held horizontal as is shown in FIG. 6, gravity willlocate the weight block 420 downward thus properly orienting the camera102 within the cage assembly 402. In this embodiment the weight block420 orients both the camera 102 and the cage 402 itself together inorder to produce an erect image from the camera assembly 102. Preferablythe flanges 424 and 426 are sized such that they do not protrudesubstantially beyond the side wall of the tubular mid cage portion 406so that interference with proper orientation of the assembly 400 andsnagging is minimized during deployment.

Alternatively a combination of a switching valve such as disclosed inU.S. Pat. No. 8,667,987 could be connected in tandem with a rotarycleaning nozzle 212, and nozzle 212 may include a rotational speedlimiting device such as a viscous damper as disclosed in U.S. Pat. No.5,964,414 in order to maintain nozzle rotational speeds within a desiredrange. Other configurations could also be used. For example, rotarybearings 210 may be incorporated between the tandem components, andadditional tractor nozzles may be incorporated into the component stringof the assembly other than is specifically described and shown in theaccompanying figures as may be needed for an encountered piping systembeing explored.

All such changes, alternatives and equivalents in accordance with thefeatures and benefits described herein, are within the scope of thepresent disclosure. Such changes and alternatives may be introducedwithout departing from the spirit and broad scope of my invention asdefined by the claims below and their equivalents.

What is claimed is:
 1. A camera skid and thrust nozzle assemblycomprising: a tractor nozzle; a cage rotatably fastened to the tractornozzle, wherein the cage can rotate about an axis through the tractornozzle; and a camera support structure fastened within the cage forrotation of the support structure about the axis together with the cageand wherein the cage includes an internal weight for urging rotationalorientation of the cage according to a sensed external gravitationalforce.
 2. The assembly according to claim 1 wherein the cage comprises:a front cage portion having a cup shape with a central opening through abottom of the cup shape; a rear cage portion having a cup shape and acentral opening through a bottom of the rear cage portion; and a midcage portion having a cylindrical tubular shape, the mid cage portionbeing fixed to the rear cage portion.
 3. The assembly according to claim1 wherein the rear cage portion further comprises a tubular bearingsleeve fixed to the bottom of the cup shaped rear cage portion aroundthe central opening.
 4. The assembly according to claim 3 wherein therear cage portion is rotatably fastened to the tractor nozzle by an axlebolt extending through the bearing sleeve.
 5. The assembly according toclaim 4 wherein the weight structure is a rectangular metal blockfastened to an inside surface of the front cage portion.
 6. The assemblyaccording to claim 4 wherein the camera assembly is fastened to the midcage portion between the front and rear cage portions.
 7. A camera skidand thrust nozzle assembly for supporting a camera in a tubular pipe orconduit spaced from any wall of the conduit for movement of the assemblyalong the conduit, the assembly comprising: a cage rotatably fastened toa tractor nozzle, wherein the cage can rotate about an axis through thetractor nozzle; and a camera support structure fastened within the cagefor rotation of the support structure about the axis independent ofrotation of the cage, the camera support structure having a weightattached thereto for urging rotational orientation of the camera supportstructure within the cage according to a sensed external gravitationalforce on the assembly.
 8. The assembly according to claim 7 wherein thecage has plurality of ribs spaced around the camera support structure,each rib having a portion extending parallel to the axis.
 9. Theassembly according to claim 8 wherein the cage has an odd number ofribs.
 10. The assembly according to claim 7 wherein the camera supportstructure and the cage are each independently rotatably supported on anaxle supported from the tractor nozzle.
 11. The assembly according toclaim 10 wherein each of the ribs has a radial portion spacing thecamera support structure from the rib portion extending parallel to theaxis.
 12. The assembly according to claim 11 further comprising awheeled frame extension fastened to each of the plurality of ribs. 13.The assembly according to claim 12 wherein the wheeled frame extensioncomprises: at least one elongated plate fastened to one of the ribs, theplate supporting one or more wheels for rolling along an inside wall ofthe pipe or conduit.
 14. The assembly according to claim 12 wherein theframe extension comprises a pair of elongated plates sandwiching therib, the pair of elongated plates supporting therebetween a front wheeland a rear wheel aligned parallel to the axially extending portion ofthe rib.
 15. A camera skid and thrust nozzle assembly for supporting acamera in a tubular pipe or conduit spaced from any wall of the conduitfor movement of the assembly along the conduit, the assembly comprising:a cage rotatably fastened to a tractor nozzle, wherein the cage canrotate about an axis through the tractor nozzle; a camera supportstructure fastened within the cage for rotation of the support structureabout the axis independent of rotation of the cage, the camera supportstructure having a weight attached thereto for urging rotationalorientation of the camera support structure within the cage according toa sensed external gravitational force on the assembly; and a wheeledframe fastened to the cage.
 16. The assembly according to claim 15wherein the cage includes plurality of ribs spaced around the camerasupport structure, each rib having a portion extending parallel to theaxis.
 17. The assembly according to claim 15 wherein the cage has an oddnumber of ribs.
 18. The assembly according to claim 15 wherein thecamera support structure and the cage are each independently rotatablysupported on an axle supported from the tractor nozzle.
 19. The assemblyaccording to claim 17 wherein each of the ribs has a radial portionspacing the camera support structure from the rib portion extendingparallel to the axis.
 20. The assembly according to claim 16 wherein thewheeled frame includes a pair of elongated plates sandwiching each rib,the pair of elongated plates supporting therebetween a front wheel and arear wheel aligned parallel to the axially extending portion of the rib.